A Non-Prehensile Object Transportation Framework With Adaptive Tilting Based on Quadratic Programming

This work proposes an operational space control framework for non-prehensile object transportation using a robot arm. The control actions for the manipulator are computed by solving a quadratic programming problem considering the object's and manipulator's kinematic and dynamic constraints. Given the desired transportation trajectory, the proposed controller generates control commands for the robot to achieve the desired motion whilst preventing object slippage. In particular, the controller minimizes the occurrence of object slippage by adaptively regulating the tray orientation. The proposed approach has been extensively evaluated numerically with a 7-degree-of-freedom manipulator, and it is also verified and validated with a real experimental setup.